Combining opennav_coverage with simple api commander

[Dmitriy8998]

Hello,

I'm relatively new to ROS2 and currently working with the ROS2 jazzy for robot navigation. I've successfully implemented coverage path planning using ComputeCoveragePath, which generates and visualizes a trajectory on a polygon-based map. However, I'm encountering issues with path execution accuracy when attempting to follow this path.

Current Approach:

I also integrated NavigateCompleteCoverage and launched it, but did not use it. I opted to utilize the Simple API Commander's followPath() method, passing the computed nav_msgs/Path directly. While the robot does move, its trajectory deviates from the intended path—cutting corners and exhibiting suboptimal tracking precision. The method I proposed may not be entirely correct, and using the Simple API Commander might not be the optimal approach. Is it possible to use this approach and if so, how can I make the robot move strictly along a given trajectory?

The path is geometrically correct (verified via RViz visualization).

[yishaiSilver]

It sounds like your local controller is the issue. Try using Regulated Pure Pursuit for stricter path following.

[Dmitriy8998]

Thank for your help. You were correct—the issue was due to an incorrect controller selection. Previously, the MPPI controller was in use, but after switching to the RegulatedPurePursuitController the robot now follows the trajectory with high precision.